Native ESP32 CAN support (#1629)

Co-authored-by: Guillermo Ruffino <glm.net@gmail.com>
Co-authored-by: Jesse Hills <3060199+jesserockz@users.noreply.github.com>
This commit is contained in:
Sympatron GmbH 2022-01-11 19:54:35 +00:00 committed by GitHub
parent 27364ee72c
commit 5026bc7a78
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GPG key ID: 4AEE18F83AFDEB23
6 changed files with 217 additions and 0 deletions

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@ -58,6 +58,7 @@ esphome/components/esp32/* @esphome/core
esphome/components/esp32_ble/* @jesserockz
esphome/components/esp32_ble_server/* @jesserockz
esphome/components/esp32_camera_web_server/* @ayufan
esphome/components/esp32_can/* @Sympatron
esphome/components/esp32_improv/* @jesserockz
esphome/components/esp8266/* @esphome/core
esphome/components/exposure_notifications/* @OttoWinter

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@ -0,0 +1,39 @@
import esphome.codegen as cg
import esphome.config_validation as cv
from esphome import pins
from esphome.components import canbus
from esphome.const import CONF_ID, CONF_RX_PIN, CONF_TX_PIN
from esphome.components.canbus import CanbusComponent, CanSpeed, CONF_BIT_RATE
CODEOWNERS = ["@Sympatron"]
DEPENDENCIES = ["esp32"]
esp32_can_ns = cg.esphome_ns.namespace("esp32_can")
esp32_can = esp32_can_ns.class_("ESP32Can", CanbusComponent)
# Currently the driver only supports a subset of the bit rates defined in canbus
CAN_SPEEDS = {
"50KBPS": CanSpeed.CAN_50KBPS,
"100KBPS": CanSpeed.CAN_100KBPS,
"125KBPS": CanSpeed.CAN_125KBPS,
"250KBPS": CanSpeed.CAN_250KBPS,
"500KBPS": CanSpeed.CAN_500KBPS,
"1000KBPS": CanSpeed.CAN_1000KBPS,
}
CONFIG_SCHEMA = canbus.CANBUS_SCHEMA.extend(
{
cv.GenerateID(): cv.declare_id(esp32_can),
cv.Optional(CONF_BIT_RATE, default="125KBPS"): cv.enum(CAN_SPEEDS, upper=True),
cv.Required(CONF_RX_PIN): pins.internal_gpio_input_pin_number,
cv.Required(CONF_TX_PIN): pins.internal_gpio_output_pin_number,
}
)
async def to_code(config):
var = cg.new_Pvariable(config[CONF_ID])
await canbus.register_canbus(var, config)
cg.add(var.set_rx(config[CONF_RX_PIN]))
cg.add(var.set_tx(config[CONF_TX_PIN]))

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@ -0,0 +1,123 @@
#ifdef USE_ESP32
#include "esp32_can.h"
#include "esphome/core/log.h"
#include <driver/can.h>
// WORKAROUND, because CAN_IO_UNUSED is just defined as (-1) in this version
// of the framework which does not work with -fpermissive
#undef CAN_IO_UNUSED
#define CAN_IO_UNUSED ((gpio_num_t) -1)
namespace esphome {
namespace esp32_can {
static const char *const TAG = "esp32_can";
static bool get_bitrate(canbus::CanSpeed bitrate, can_timing_config_t *t_config) {
switch (bitrate) {
case canbus::CAN_50KBPS:
*t_config = (can_timing_config_t) CAN_TIMING_CONFIG_50KBITS();
return true;
case canbus::CAN_100KBPS:
*t_config = (can_timing_config_t) CAN_TIMING_CONFIG_100KBITS();
return true;
case canbus::CAN_125KBPS:
*t_config = (can_timing_config_t) CAN_TIMING_CONFIG_125KBITS();
return true;
case canbus::CAN_250KBPS:
*t_config = (can_timing_config_t) CAN_TIMING_CONFIG_250KBITS();
return true;
case canbus::CAN_500KBPS:
*t_config = (can_timing_config_t) CAN_TIMING_CONFIG_500KBITS();
return true;
case canbus::CAN_1000KBPS:
*t_config = (can_timing_config_t) CAN_TIMING_CONFIG_1MBITS();
return true;
default:
return false;
}
}
bool ESP32Can::setup_internal() {
can_general_config_t g_config =
CAN_GENERAL_CONFIG_DEFAULT((gpio_num_t) this->tx_, (gpio_num_t) this->rx_, CAN_MODE_NORMAL);
can_filter_config_t f_config = CAN_FILTER_CONFIG_ACCEPT_ALL();
can_timing_config_t t_config;
if (!get_bitrate(this->bit_rate_, &t_config)) {
// invalid bit rate
this->mark_failed();
return false;
}
// Install CAN driver
if (can_driver_install(&g_config, &t_config, &f_config) != ESP_OK) {
// Failed to install driver
this->mark_failed();
return false;
}
// Start CAN driver
if (can_start() != ESP_OK) {
// Failed to start driver
this->mark_failed();
return false;
}
return true;
}
canbus::Error ESP32Can::send_message(struct canbus::CanFrame *frame) {
if (frame->can_data_length_code > canbus::CAN_MAX_DATA_LENGTH) {
return canbus::ERROR_FAILTX;
}
uint32_t flags = CAN_MSG_FLAG_NONE;
if (frame->use_extended_id) {
flags |= CAN_MSG_FLAG_EXTD;
}
if (frame->remote_transmission_request) {
flags |= CAN_MSG_FLAG_RTR;
}
can_message_t message = {
.flags = flags,
.identifier = frame->can_id,
.data_length_code = frame->can_data_length_code,
};
if (!frame->remote_transmission_request) {
memcpy(message.data, frame->data, frame->can_data_length_code);
}
if (can_transmit(&message, pdMS_TO_TICKS(1000)) == ESP_OK) {
return canbus::ERROR_OK;
} else {
return canbus::ERROR_ALLTXBUSY;
}
}
canbus::Error ESP32Can::read_message(struct canbus::CanFrame *frame) {
can_message_t message;
if (can_receive(&message, 0) != ESP_OK) {
return canbus::ERROR_NOMSG;
}
frame->can_id = message.identifier;
frame->use_extended_id = message.flags & CAN_MSG_FLAG_EXTD;
frame->remote_transmission_request = message.flags & CAN_MSG_FLAG_RTR;
frame->can_data_length_code = message.data_length_code;
if (!frame->remote_transmission_request) {
size_t dlc =
message.data_length_code < canbus::CAN_MAX_DATA_LENGTH ? message.data_length_code : canbus::CAN_MAX_DATA_LENGTH;
memcpy(frame->data, message.data, dlc);
}
return canbus::ERROR_OK;
}
} // namespace esp32_can
} // namespace esphome
#endif

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@ -0,0 +1,29 @@
#pragma once
#ifdef USE_ESP32
#include "esphome/components/canbus/canbus.h"
#include "esphome/core/component.h"
namespace esphome {
namespace esp32_can {
class ESP32Can : public canbus::Canbus {
public:
void set_rx(int rx) { rx_ = rx; }
void set_tx(int tx) { tx_ = tx; }
ESP32Can(){};
protected:
bool setup_internal() override;
canbus::Error send_message(struct canbus::CanFrame *frame) override;
canbus::Error read_message(struct canbus::CanFrame *frame) override;
int rx_{-1};
int tx_{-1};
};
} // namespace esp32_can
} // namespace esphome
#endif

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@ -2472,6 +2472,11 @@ text_sensor:
id: glob_int
value: '0'
- canbus.send:
canbus_id: mcp2515_can
can_id: 23
data: [0x10, 0x20, 0x30]
- canbus.send:
canbus_id: esp32_internal_can
can_id: 23
data: [0x10, 0x20, 0x30]
- platform: template
@ -2509,6 +2514,7 @@ rtttl:
canbus:
- platform: mcp2515
id: mcp2515_can
cs_pin: GPIO17
can_id: 4
bit_rate: 50kbps
@ -2525,6 +2531,25 @@ canbus:
lambda: 'return x[0] == 0x11;'
then:
light.toggle: ${roomname}_lights
- platform: esp32_can
id: esp32_internal_can
rx_pin: GPIO04
tx_pin: GPIO05
can_id: 4
bit_rate: 50kbps
on_frame:
- can_id: 500
then:
- lambda: |-
std::string b(x.begin(), x.end());
ESP_LOGD("canid 500", "%s", &b[0] );
- can_id: 23
then:
- if:
condition:
lambda: 'return x[0] == 0x11;'
then:
light.toggle: ${roomname}_lights
teleinfo:
id: myteleinfo